diff --git a/rosidl_generator_java/resource/action.cpp.em b/rosidl_generator_java/resource/action.cpp.em
index 1fcdd7fb..e6291779 100644
--- a/rosidl_generator_java/resource/action.cpp.em
+++ b/rosidl_generator_java/resource/action.cpp.em
@@ -58,21 +58,45 @@ expand_template(
     data,
     output_file)
 
+# Generate SendGoal message type
+data.update({'msg': action.send_goal_service.request_message})
+output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate GetResult message type
+data.update({'msg': action.get_result_service.request_message})
+output_file = os.path.join(output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+data = {
+    'package_name': package_name,
+    'interface_path': interface_path,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+    'typesupport_impl': typesupport_impl,
+}
+
 # Generate SendGoal service type
 data.update({'service': action.send_goal_service})
 output_file = os.path.join(
     output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
 expand_template(
-    'msg.cpp.em',
+    'srv.cpp.em',
     data,
     output_file)
 
-# Generate SendGoal service type
+# Generate GetResult service type
 data.update({'service': action.get_result_service})
 output_file = os.path.join(
     output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(get_result_type_name, typesupport_impl))
 expand_template(
-    'msg.cpp.em',
+    'srv.cpp.em',
     data,
     output_file)
 }@